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<div class="title">convolution_3d.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_CONVOLUTION_3D_IMPL_HPP</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_CONVOLUTION_3D_IMPL_HPP</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/point_operators.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">namespace </span>filters</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel_3_01_point_t_00_01pcl_1_1_normal_01_4.html">   53</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, pcl::<a class="code" href="structpcl_1_1_normal.html">Normal</a>&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html#a516ff8cb112028510557398fb8152b2e">makeInfinite</a> (<a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a>&amp; n)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        n.normal_x = n.normal_y = n.normal_z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    };</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolving_kernel_3_01_point_t_00_01pcl_1_1_point_x_y_01_4.html">   62</a></span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="classpcl_1_1filters_1_1_convolving_kernel_3_01_point_t_00_01pcl_1_1_point_x_y_01_4.html">ConvolvingKernel&lt;PointT, pcl::PointXY&gt;</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      makeInfinite (<a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a>&amp; p)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        p.x = p.y = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    };</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#abc1ef2229ba7f711cf62c82753bf22c1">   76</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#abc1ef2229ba7f711cf62c82753bf22c1">pcl::filters::GaussianKernel&lt;PointInT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (sigma_ == 0)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Sigma is not set or equal to 0!\n&quot;</span>, sigma_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  sigma_sqr_ = sigma_ * sigma_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (sigma_coefficient_)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> ((*sigma_coefficient_) &gt; 6 || (*sigma_coefficient_) &lt; 3)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Sigma coefficient (%f) out of [3..6]!\n&quot;</span>, (*sigma_coefficient_));</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      threshold_ = (*sigma_coefficient_) * (*sigma_coefficient_) * sigma_sqr_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; PointOutT</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel.html#a2550b6e480710552d543d118ee19c0ff">  101</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel.html#a2550b6e480710552d543d118ee19c0ff">pcl::filters::GaussianKernel&lt;PointInT, PointOutT&gt;::operator() </a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                                                               <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">using namespace </span>pcl::common;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  PointOutT result;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">float</span> total_weight = 0;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::vector&lt;float&gt;::const_iterator dist_it = distances.begin ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator idx_it = indices.begin ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;       idx_it != indices.end ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;       ++idx_it, ++dist_it)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">if</span> (*dist_it &lt;= threshold_ &amp;&amp; isFinite ((*input_) [*idx_it]))</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">float</span> weight = expf (-0.5f * (*dist_it) / sigma_sqr_);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      result += weight * (*input_) [*idx_it];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      total_weight += weight;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (total_weight != 0)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    result /= total_weight;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    makeInfinite (result);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; PointOutT</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#ab9fce61230a93073edc8b29320d33105">  130</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#ab9fce61230a93073edc8b29320d33105">pcl::filters::GaussianKernelRGB&lt;PointInT, PointOutT&gt;::operator() </a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">using namespace </span>pcl::common;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  PointOutT result;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">float</span> total_weight = 0;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordtype">float</span> r = 0, g = 0, b = 0;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  std::vector&lt;float&gt;::const_iterator dist_it = distances.begin ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator idx_it = indices.begin ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;       idx_it != indices.end ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;       ++idx_it, ++dist_it)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">if</span> (*dist_it &lt;= threshold_ &amp;&amp; isFinite ((*input_) [*idx_it]))</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">float</span> weight = expf (-0.5f * (*dist_it) / sigma_sqr_);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      result.x += weight * (*input_) [*idx_it].x;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      result.y += weight * (*input_) [*idx_it].y;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      result.z += weight * (*input_) [*idx_it].z;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      r += weight * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) [*idx_it].r);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      g += weight * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) [*idx_it].g);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      b += weight * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) [*idx_it].b);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      total_weight += weight;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">if</span> (total_weight != 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    total_weight = 1.f/total_weight;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    r*= total_weight; g*= total_weight; b*= total_weight;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    result.x*= total_weight; result.y*= total_weight; result.z*= total_weight;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    result.r = <span class="keyword">static_cast&lt;</span>pcl::uint8_t<span class="keyword">&gt;</span> (r);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    result.g = <span class="keyword">static_cast&lt;</span>pcl::uint8_t<span class="keyword">&gt;</span> (g);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    result.b = <span class="keyword">static_cast&lt;</span>pcl::uint8_t<span class="keyword">&gt;</span> (b);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    makeInfinite (result);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> KernelT&gt;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#ac63c49229165630deed411a0786f7205">  171</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#ac63c49229165630deed411a0786f7205">pcl::filters::Convolution3D&lt;PointInT, PointOutT, KernelT&gt;::Convolution3D</a> ()</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  : <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &lt;PointInT&gt; ()</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  , surface_ ()</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  , tree_ ()</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  , search_radius_ (0)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{}</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> KernelT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a275e38b4ef8e4855419c8714920d90c1">  180</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a275e38b4ef8e4855419c8714920d90c1">pcl::filters::Convolution3D&lt;PointInT, PointOutT, KernelT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;{</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::filters::Convlution3D::initCompute] init failed!\n&quot;</span>);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// Initialize the spatial locator</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordflow">if</span> (!tree_)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">if</span> (input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a> (<span class="keyword">false</span>));</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="comment">// If no search surface has been defined, use the input dataset as the search surface itself</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keywordflow">if</span> (!surface_)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    surface_ = input_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Send the surface dataset to the spatial locator</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  tree_-&gt;setInputCloud (surface_);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="comment">// Do a fast check to see if the search parameters are well defined</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">if</span> (search_radius_ &lt;= 0.0)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::filters::Convlution3D::initCompute] search radius (%f) must be &gt; 0&quot;</span>,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;               search_radius_);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// Make sure the provided kernel implements the required interface</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">dynamic_cast&lt;</span><a class="code" href="classpcl_1_1filters_1_1_convolving_kernel.html">ConvolvingKernel&lt;PointInT, PointOutT&gt;</a>* <span class="keyword">&gt;</span> (&amp;kernel_) == 0)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::filters::Convlution3D::initCompute] init failed&quot;</span>);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;kernel_ must implement ConvolvingKernel interface\n!&quot;</span>);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  kernel_.setInputCloud (surface_);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// Initialize convolving kernel</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span> (!kernel_.initCompute ())</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::filters::Convlution3D::initCompute] kernel initialization failed!\n&quot;</span>);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> KernelT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_convolution3_d.html#a97479a3e1822348fb361aa951491a6dd">  226</a></span>&#160;<a class="code" href="classpcl_1_1filters_1_1_convolution3_d.html#a97479a3e1822348fb361aa951491a6dd">pcl::filters::Convolution3D&lt;PointInT, PointOutT, KernelT&gt;::convolve</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&amp; output)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;{</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::filters::Convlution3D::convolve] init failed!\n&quot;</span>);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (surface_-&gt;size ());</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = surface_-&gt;width;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = surface_-&gt;height;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = surface_-&gt;is_dense;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) private (nn_indices, nn_distances) num_threads (threads_)</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">for</span> (int64_t point_idx = 0; point_idx &lt; static_cast&lt;int64_t&gt; (surface_-&gt;size ()); ++point_idx)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">const</span> PointInT&amp; point_in = surface_-&gt;points [point_idx];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    PointOutT&amp; point_out = output [point_idx];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">if</span> (isFinite (point_in) &amp;&amp;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        tree_-&gt;radiusSearch (point_in, search_radius_, nn_indices, nn_distances))</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      point_out = kernel_ (nn_indices, nn_distances);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      kernel_.makeInfinite (point_out);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a275e38b4ef8e4855419c8714920d90c1"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a275e38b4ef8e4855419c8714920d90c1">pcl::filters::Convolution3D::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">initialize computation</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:180</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_a97479a3e1822348fb361aa951491a6dd"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#a97479a3e1822348fb361aa951491a6dd">pcl::filters::Convolution3D::convolve</a></div><div class="ttdeci">void convolve(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:226</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution3_d_html_ac63c49229165630deed411a0786f7205"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution3_d.html#ac63c49229165630deed411a0786f7205">pcl::filters::Convolution3D::Convolution3D</a></div><div class="ttdeci">Convolution3D()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_3_01_point_t_00_01pcl_1_1_point_x_y_01_4_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel_3_01_point_t_00_01pcl_1_1_point_x_y_01_4.html">pcl::filters::ConvolvingKernel&lt; PointT, pcl::PointXY &gt;</a></div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html">pcl::filters::ConvolvingKernel</a></div><div class="ttdoc">Class ConvolvingKernel base class for all convolving kernels</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolving_kernel_html_a516ff8cb112028510557398fb8152b2e"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolving_kernel.html#a516ff8cb112028510557398fb8152b2e">pcl::filters::ConvolvingKernel::makeInfinite</a></div><div class="ttdeci">static void makeInfinite(PointOutT &amp;p)</div><div class="ttdoc">Utility function that annihilates a point making it fail the pcl::isFinite test</div><div class="ttdef"><b>Definition:</b> convolution_3d.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_a2550b6e480710552d543d118ee19c0ff"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#a2550b6e480710552d543d118ee19c0ff">pcl::filters::GaussianKernel::operator()</a></div><div class="ttdeci">virtual PointOutT operator()(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Convolve point at the center of this local information</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:101</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_html_abc1ef2229ba7f711cf62c82753bf22c1"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel.html#abc1ef2229ba7f711cf62c82753bf22c1">pcl::filters::GaussianKernel::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_gaussian_kernel_r_g_b_html_ab9fce61230a93073edc8b29320d33105"><div class="ttname"><a href="classpcl_1_1filters_1_1_gaussian_kernel_r_g_b.html#ab9fce61230a93073edc8b29320d33105">pcl::filters::GaussianKernelRGB::operator()</a></div><div class="ttdeci">PointOutT operator()(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Convolve point at the center of this local information</div><div class="ttdef"><b>Definition:</b> convolution_3d.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.</div><div class="ttdef"><b>Definition:</b> organized.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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